CN113135179A

CN113135179A - Parking detection method, device, equipment, system and storage medium

Info

Publication number: CN113135179A
Application number: CN202110580991.5A
Authority: CN
Inventors: 吴贤; 欧阳琼林; 邱磊
Original assignee: Qianhai Qijian Technology Shenzhen Co ltd
Current assignee: Qianhai Qijian Technology Shenzhen Co ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2021-07-20

Abstract

The embodiment of the invention provides a parking detection method, a parking detection device, parking detection equipment, a parking detection system and a storage medium, wherein the parking detection method comprises the following steps: the method comprises the steps of obtaining state information of a parking starting position of a vehicle in a parking lot, wherein the state information comprises position information and/or posture information, planning a path from the parking starting position to a target parking space for the vehicle according to the state information of the vehicle, judging whether the state information of the vehicle meets a parking requirement according to the path, and if not, generating prompt information to prompt a user to adjust the state information of the vehicle until the parking requirement is met, so that the user can be helped to know whether the current position and the posture of the vehicle meet the subsequent parking requirement before the vehicle enters the parking starting position, and if not, the user is reminded to adjust the vehicle, so that the success rate of parking is improved.

Description

Parking detection method, device, equipment, system and storage medium

Technical Field

The invention relates to the technical field of automatic parking control, in particular to a parking detection method, a parking detection device, parking detection equipment, parking detection system and a storage medium.

Background

The AVP (Automated Valet Parking) is an important function of smart Parking lot projects in smart cities, assists car owners to park smart cars in designated positions and performs services such as automatic charging or cleaning, the car owners can know states of the cars anytime and anywhere through mobile phones, the cars can be called in advance when the cars are ready to leave the Parking lot, and the cars can be picked up and left in appointed areas.

At present, the main method for parking a car as a substitute is to set a target path of the car according to the parking position of the car so as to achieve the parking in a posture conforming to the state of the parking position. However, no solution is provided for determining whether the position and the posture of the starting position where the vehicle is currently located meet the requirements of the valet parking, and the vehicle may exit halfway in the parking execution process, so that the parking failure is caused.

Disclosure of Invention

The embodiment of the invention provides a parking detection method, a parking detection device, parking detection equipment, a parking detection system and a parking detection storage medium, which are used for improving the success rate of parking.

In a first aspect, an embodiment of the present invention provides a parking detection method, where the method includes:

acquiring state information of a parking starting position of a vehicle in a parking lot, wherein the state information comprises position information and/or posture information;

planning a path for the vehicle to move from the parking starting position to a target parking position according to the state information of the vehicle;

judging whether the state information of the vehicle meets the parking requirement or not according to the path;

and if the parking request does not meet the parking request, generating prompt information to prompt a user to adjust the state information of the vehicle until the parking request is met.

Optionally, the obtaining of the state information of the vehicle at the parking starting position of the parking lot includes:

after the vehicle reaches the preset range of the parking starting position, acquiring the speed of the vehicle in real time through a wireless short-distance communication technology;

when the vehicle speed is detected to be zero, acquiring the attitude information of the vehicle at the parking starting position, the environmental characteristic information corresponding to the vehicle and a positioning layer of the parking lot;

and determining the position information of the vehicle according to the environment characteristic information and the positioning layer.

Optionally, the attitude information includes a vehicle body heading angle and/or a wheel steering angle;

acquiring the environmental characteristic information corresponding to the vehicle and the positioning map layer of the parking lot, including:

acquiring a multi-frame image used for representing the environment where the vehicle is located; the multi-frame images comprise multi-frame images collected by a look-around camera arranged on the parking starting position and/or multi-frame images collected by a look-around camera arranged on the vehicle;

splicing the acquired multi-frame images, performing semantic segmentation on the spliced images, extracting corresponding semantic features, and projecting the semantic features to a vehicle coordinate system to obtain environment feature information; wherein the semantic features include at least one of: ground reference, ground labels, vehicle profiles;

acquiring multi-frame images acquired by a plurality of visual sensors respectively deployed at different positions of the parking lot;

extracting the features of the multi-frame images corresponding to the parking lot to obtain semantic features corresponding to the frames of images;

splicing the multiple frames of images according to the semantic features corresponding to the frames of images to generate a positioning layer containing the overall environmental features of the parking lot;

correspondingly, determining the position information of the vehicle according to the environmental characteristic information and the positioning map layer includes:

and performing feature matching according to the environmental feature information of the vehicle and the positioning map layer, and determining the position information of the vehicle.

Optionally, planning a path from the parking start position to the target parking position for the vehicle according to the state information of the vehicle, including:

determining at least one target parking space of the vehicle according to the type of service required by the vehicle; wherein the service type comprises at least one of: charging, cleaning and maintaining;

for each target parking space, planning at least one candidate path for the vehicle according to the current posture information of the vehicle by taking the current position information of the vehicle as a parking starting point and the target parking space as a parking terminal point;

correspondingly, judging whether the vehicle meets the parking requirement according to the path comprises the following steps:

and judging whether the vehicle meets the parking requirement or not according to at least one candidate path corresponding to each target parking space.

Optionally, the determining whether the vehicle meets the parking requirement according to at least one candidate path corresponding to each target parking space includes:

determining a driving prohibition area in a positioning map layer of the parking lot;

if all the candidate paths are overlapped with the driving prohibition area in the positioning map layer, determining that the vehicle does not meet the parking requirement;

and if one or more candidate paths do not overlap with the driving prohibition area in the positioning map layer, determining that the vehicle meets the parking requirement.

In a second aspect, an embodiment of the present invention provides a parking detection apparatus, including:

the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring the state information of a parking starting position of a vehicle in a parking lot, and the state information comprises position information and/or posture information;

the planning module is used for planning a path from the parking starting position to a target parking position for the vehicle according to the state information of the vehicle;

the judging module is used for judging whether the state information of the vehicle meets the parking requirement or not according to the path;

and the prompting module is used for generating prompting information when the parking requirement is not met so as to prompt a user to adjust the state information of the vehicle until the parking requirement is met.

In a third aspect, an embodiment of the present invention provides a parking detection apparatus, including:

at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the parking detection method according to any one of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a parking detection system, including: the parking detection apparatus of the third aspect, the around-looking camera installed at the parking start position, and the plurality of visual sensors disposed at different positions of the parking lot.

In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is configured to implement the parking detection method according to any one of the first aspect.

In a sixth aspect, an embodiment of the present invention provides a computer program product, which includes a computer program that, when being executed by a processor, implements the parking detection method according to any one of the first aspect.

According to the parking detection method, the parking detection device, the parking detection equipment, the parking detection system and the storage medium, the state information of the parking starting position of the vehicle in the parking lot is obtained, the state information comprises the position information and/or the posture information, the path from the parking starting position to the target parking space is planned for the vehicle according to the state information of the vehicle, whether the state information of the vehicle meets the parking requirement or not is judged according to the path, if not, prompt information is generated to prompt a user to adjust the state information of the vehicle until the parking requirement is met, the user can be helped to know whether the position and the posture of the current vehicle meet the subsequent parking requirement or not before the vehicle enters the parking starting position, if not, the user is reminded to adjust the vehicle, and the success rate of parking is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a parking detection system according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a parking detection method according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating another parking detection method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a parking detection apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a parking detection apparatus according to an embodiment of the present invention.

With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The following explains an application scenario provided by an embodiment of the present invention: the scheme provided by the embodiment of the invention relates to passenger car parking. At present, the main links of the passenger car parking are that a car enters a parking starting position, a parking application program is started, the car runs to the parking position, automatic charging car washing, maintenance and repair are completed, a mobile phone is applied to call the car, and the car is taken in an appointed area. When the vehicle enters the parking starting position, a parking application program is started to formally execute a parking action, and the application program helps the vehicle to plan a path reaching the parking position so that the vehicle can drive to the parking position according to the planned path.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention. As shown in fig. 1, a parking lot may be provided with a plurality of

parking spaces

1, 2, and 3, and after a vehicle stops at a parking start position, a user may start a parking application program on a mobile phone, and the system may automatically plan a path for the vehicle to a parking position in the parking lot. The dotted line in the figure is a planned driving path of the vehicle, and the vehicle is guided to drive to the No. 1 parking space closest to the entrance.

In some techniques, a target path of a vehicle is generated by a target path generating unit, and a parking position satisfying a certain requirement existing on the target path is detected and a target parking position of the own vehicle is selected, so that the vehicle can smoothly travel to the selected target parking position in the current posture. According to the method, the vehicle in the starting position is not subjected to parking compliance detection, if the errors of the parking position and the posture of the vehicle exceed the allowed maximum range, the vehicle cannot be parked in the designated position, the subsequent passenger-substitute parking requirement cannot be met, and the vehicle exits midway in the parking process and fails in parking.

Therefore, an embodiment of the present invention provides a parking detection method, which obtains status information of a vehicle reaching a parking start position, plans a driving path to a target parking space for the vehicle according to the status information of the vehicle, determines whether the status information of the vehicle meets a parking requirement according to the path, and adjusts the status information of the vehicle to meet the parking requirement if the status information of the vehicle does not meet the parking requirement, so as to determine in advance whether a current position and a posture of the vehicle meet a requirement for subsequent parking, and prevent the vehicle from exiting halfway in a parking process.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

Fig. 2 is a schematic structural diagram of a parking detection system according to an embodiment of the present invention. As shown in fig. 2, the vehicle start position detection system may include an on-line detection module for vehicle body surrounding environment characteristics, a vehicle body state information acquisition and uploading module, a field-side environment characteristic map drawing generation module, and a field-side calculation processing decision module.

The vehicle surrounding environment characteristic online detection module can be used for collecting the vehicle surrounding environment characteristic information after a vehicle to be parked enters the starting position, and the environment characteristic information can comprise ground buildings, ground labeling information and the like. The vehicle body state information acquisition and uploading module can be used for acquiring and updating the current attitude information of the vehicle at any time, and specifically, the vehicle body state information acquisition and uploading module can be an inertial navigation system on the vehicle. The field end environment characteristic map drawing generation module can be used for collecting and storing the overall environment characteristic information of the intelligent parking lot and drawing and generating a characteristic-based positioning map layer. The field end calculation processing decision-making module can be used for determining the accurate position of the current vehicle and generating an automatic driving path for driving the current vehicle to the target parking space.

The system comprises an on-line detection module for the environmental characteristics around the vehicle body, a vehicle body state information acquisition and uploading module and a field end environmental characteristic map drawing and generating module, wherein the field end calculation and processing decision module is used for processing the acquired information and planning a path for the vehicle.

Fig. 3 is a schematic flow chart of a parking detection method according to an embodiment of the present invention. As shown in fig. 3, the method in this embodiment may include:

step 301, obtaining state information of a parking starting position of a vehicle in a parking lot, wherein the state information comprises position information and/or posture information.

Optionally, when the vehicle arrives at the parking start position of the parking lot, the vehicle body state information acquisition and uploading module may acquire the posture information and the position information of the current vehicle, and transmit the acquired information to the field end calculation processing decision module.

The parking starting position can be an automatic parking prompting position, can be arranged around an entrance of a parking lot or other positions. The position information of the vehicle may be a specific position of the vehicle in the entire parking lot. The attitude information may include a vehicle body heading angle and/or a wheel steering angle, etc.

Optionally, vehicle attitude information such as a vehicle body heading angle and a wheel steering angle of the vehicle may be acquired by an inertial navigation system on the vehicle.

And step 302, planning a path from the parking starting position to a target parking position for the vehicle according to the state information of the vehicle.

Optionally, the field-side calculation processing decision module may plan a driving path to the target parking space for the vehicle according to the position information or the posture information of the vehicle.

Wherein the target parking space may be a location where the vehicle is finally parked in the parking lot. The vehicle may have multiple paths from the parking start position to the target parking space.

And step 303, judging whether the state information of the vehicle meets the parking requirement according to the path.

Optionally, the field-side calculation processing decision module may be used to determine whether the state information of the vehicle can ensure that the vehicle reaches the target parking space according to the planned path.

And step 304, if the parking requirement is not met, generating prompt information to prompt a user to adjust the state information of the vehicle until the parking requirement is met.

Optionally, the field end calculation processing module may determine whether the vehicle driving path collides with an obstacle element in the parking field, and if the vehicle driving path collides with the obstacle element in the parking field, the state information of the vehicle does not satisfy the parking requirement, otherwise, the state information satisfies the requirement.

If the vehicle running path collides with the obstacle elements in the parking lot, the vehicle cannot reach the target parking space according to the planned path, the state information of the current vehicle does not meet the parking requirement, and the field end calculation processing decision module prompts the user with voice to adjust the vehicle so as to meet the parking requirement.

Specifically, when the vehicle reaches the parking starting position and the field end computing processing module detects that the parking position or posture of the vehicle does not meet the subsequent parking requirement, the field end computing processing module can prompt the user to adjust the vehicle through voice so that the parking state information of the vehicle meets the subsequent parking requirement. The parking state which can quickly meet the subsequent parking requirement can be achieved by adjusting the parking starting position by the user, compared with the automatic adjustment of the vehicle, the automatic adjustment needs to pre-design and install a program which is arranged at the parking starting position for posture adjustment, and the automatic adjustment is relatively slow in realizing the subsequent parking requirement, low in efficiency and poor in adjustment effect.

Specifically, when the user parks the vehicle at the parking starting position to the right side of the whole position, the field end calculation processing module transmits the information that the position of the vehicle is inclined to the right to the vehicle end, and the voice playing device in the vehicle prompts the user that the position of the vehicle is inclined to the right and please move horizontally by 6-10 cm. The user can adjust the parking position of the vehicle according to voice, when the user adjusts the position of the vehicle according to voice prompt, the voice playing device on the vehicle informs the user that the vehicle is parked well through voice, parking operation can be conducted, and the user can open a parking application program on a mobile phone to further conduct parking operation on the vehicle.

According to the parking detection method provided by the embodiment, the state information of the parking starting position of the vehicle in the parking lot is obtained, the state information comprises position information and/or posture information, a path from the parking starting position to a target parking space is planned for the vehicle according to the state information of the vehicle, whether the state information of the vehicle meets a parking requirement is judged according to the path, if not, prompt information is generated to prompt a user to adjust the state information of the vehicle until the parking requirement is met, the user can be helped to know whether the position and the posture of the current vehicle meet the subsequent parking requirement before the vehicle enters the parking starting position, if not, the user is reminded to adjust the vehicle, and the success rate of parking is improved.

On the basis of the technical solution provided by the above embodiment, optionally, the obtaining of the state information of the vehicle at the parking start position of the parking lot includes:

after the vehicle reaches the preset range of the parking starting position, acquiring the speed of the vehicle in real time through a wireless short-distance communication technology; when the vehicle speed is detected to be zero, acquiring the attitude information of the vehicle at the parking starting position, the environmental characteristic information corresponding to the vehicle and a positioning layer of the parking lot; and determining the position information of the vehicle according to the environment characteristic information and the positioning layer.

Optionally, after the vehicle drives into the parking starting position, the vehicle end and the field end establish an information contact mechanism. For example, the vehicle body state information acquisition and uploading module can transmit acquired vehicle speed information to the field end calculation processing decision module through a wireless short-distance communication technology, and when the field end calculation processing decision module detects that the vehicle speed is 0, the field end calculation processing decision module records the attitude information, the environmental characteristic information and the positioning map layer of the parking lot of the vehicle at the moment and determines the specific position information of the vehicle from the position information. The wireless short-distance communication technology may be, for example, WIFI, bluetooth, ZigBee (ZigBee protocol), or the like.

The field end environment characteristic map drawing generation module can acquire the overall environment characteristic information of the parking lot and draw and generate a characteristic-based positioning map layer. The vehicle speed of 0 may be the case where the vehicle transverse and longitudinal movement speeds are all 0. The positioning map layer in the parking lot is continuously updated.

Optionally, the inertial navigation unit may collect status information of the vehicle, and transmit the status information to a vehicle-mounted terminal gateway through a CAN (Controller Area Network) Network, where the terminal gateway sends the status information of the vehicle to a communication receiver of the field-side calculation processing decision module through wireless communication.

The environmental characteristic information around the vehicle may be visual characteristic information shot by a camera, and accordingly, the positioning layer is generated based on the visual characteristic information.

When the speed of the vehicle is detected to be 0, the attitude information and the position information of the vehicle are obtained, the current position of the vehicle can be ensured to be a parking starting position, and the vehicle can be identified and planned according to the position. Through the environmental characteristic information of the vehicle and the positioning map layer of the parking lot, the position information of the vehicle can be accurately determined, and the accuracy of detection is improved.

Optionally, the obtaining of the environmental characteristic information corresponding to the vehicle may include:

splicing the acquired multi-frame images, performing semantic segmentation on the spliced images, extracting corresponding semantic features, and projecting the semantic features to a vehicle coordinate system to obtain environment feature information; wherein the semantic features include at least one of: ground reference, ground callout, vehicle profile.

The semantic segmentation may be to mark a corresponding label for each pixel in the picture, i.e., to make the semantic represented by the pixel into a concrete representation.

Optionally, the images shot by the visual cameras at the corners of the parking starting positions are subjected to feature extraction, the semantic features detected by a single frame are spliced, the multi-frame images are spliced into a large visual feature information image, the spliced image is subjected to semantic segmentation, the corresponding semantic features are extracted and projected to a self-vehicle coordinate system, and the environmental feature information of the vehicle is obtained. The cameras at the corners of the parking starting positions can include a looking-around camera of the parking starting position and/or a looking-around camera on the vehicle. Semantic features may include ground references, ground labels, vehicle contours, etc. information.

The vehicle coordinate system may be a coordinate system in which the vehicle forward direction is an X axis, the vehicle forward direction faces the front of the vehicle, the left-hand direction is a Y axis, the direction is perpendicular to the ground, and the pointing direction to the roof is a Z axis. And projecting the semantic features to a vehicle coordinate system, and placing the extracted features at corresponding positions of the vehicle according to the actual position relation. For example, the ground is marked at a position 1m directly in front of the vehicle, then on a scale of 200: 1, the position of the ground mark is at the position of 0.5cm from the origin on the X axis.

Specifically, the environment cameras arranged in four directions of the starting position garage can be used for shooting multi-frame environment photos including vehicles, the multi-frame environment photos are spliced into 360-degree dead-angle-free photos, then, a semantic segmentation network is used for extracting semantic features, and finally, the semantic features are projected to a coordinate system of the vehicle according to the calibration of the camera.

Optionally, obtaining the positioning map layer of the parking lot may include:

acquiring multi-frame images acquired by a plurality of visual sensors respectively deployed at different positions of the parking lot; extracting the features of the multi-frame images corresponding to the parking lot to obtain semantic features corresponding to the frames of images; and splicing the multiple frames of images according to the semantic features corresponding to the frames of images to generate a positioning layer containing the overall environmental features of the parking lot.

Alternatively, the plurality of vision sensors may be disposed at corner positions of the parking lot. The method comprises the steps of collecting pictures shot by a visual sensor at each corner position in the parking lot to obtain multi-frame images, extracting semantic features corresponding to the multi-frame images, splicing the multi-frame images according to the semantic features, and obtaining a positioning image layer containing vehicle environment features.

The field terminal calculation processing decision-making module can determine the accurate position of the vehicle in the parking space through environment characteristic matching and display the accurate position in the positioning map layer. Specifically, the precise location of the vehicle on the positioning layer may be determined by visual feature matching. For example, the positioning layer includes positions of features such as ground references and ground labels, and the environmental feature information of the vehicle also includes positions of features such as ground references and ground labels, and the positions of the same features are matched to determine a mapping relationship between the positioning layer and the environmental feature information of the vehicle, thereby determining the position of the vehicle in the positioning layer.

The environmental characteristic information of the vehicle is determined, the map layer and the accurate position of the vehicle in the environmental characteristic information are positioned, the structural diagram of the parking lot and the position of the vehicle in the parking lot can be accurately known, and an automatic driving path is conveniently planned for the vehicle.

Optionally, the field-side calculation processing decision module selects one or more available parking spaces for the vehicle as the target parking space through services such as charging, cleaning, maintenance and the like required by the vehicle. Wherein, can set up that the service that each parking stall can go on is different, for example, parking stall 1 has the service of charging and washing, and parking stall 2 has the service of charging and maintenance, and parking stall 3 has the service of charging, washing and maintenance, and when the vehicle only need charge the service, three parking stalls all can be as target parking stall.

And calculating at least one driving path by taking the current vehicle posture and the vehicle posture after parking as a parking starting point and a target parking position as a parking terminal point based on a numerical optimization method.

And when a plurality of candidate routes exist, judging at least one driving route and judging whether the route meets the requirement of subsequent parking. If at least one driving path meets the subsequent parking requirement, the vehicle adjustment is not needed, and if all the driving paths do not meet the subsequent parking requirement, the vehicle position or the vehicle posture is needed to be further adjusted.

The route planning is carried out on the vehicle through the service required by the vehicle and the vehicle posture information, so that whether a proper planned route exists or not can be determined when the user parks the vehicle at the parking starting position, and the user can know the parking condition in time conveniently.

Wherein, the travel-prohibited area is an undrawn area in the positioning layer. And distinguishing and labeling the drivable area and the undrivable area in the positioning map layer. For example, the white area in the positioning map layer is a drivable area, and the red area is a non-drivable area.

If the vehicle driving path and the driving prohibition area in the positioning map layer have a superposed communication area, judging that the current vehicle position or posture is unqualified and cannot meet the subsequent parking requirement; if the driving path of the vehicle and the driving prohibition area of the positioning map layer do not have the overlapped intersection area, the position and the posture of the current vehicle are judged to be qualified, and the requirement of subsequent passenger car parking can be met.

The positioning layer can be a charging tower positioning layer, namely a positioning layer of an area capable of providing vehicle charging can be displayed.

If the current vehicle position or posture is unqualified, the subsequent parking requirement cannot be met, adjustment is performed after the field end prompts, and the successful parking probability is improved.

The whole parking starting position qualification detection process link is basically completed by depending on the calculation processing capacity of the field side except for uploading the state information of the vehicle, so that the dependence on the intelligent networking capacity of the vehicle side is reduced, and the landing implementation of the passenger-replacing parking function is facilitated.

Fig. 4 is a flowchart illustrating another parking detection method according to an embodiment of the present invention. As shown in figure 4 of the drawings,

step 401, the vehicle to be parked drives into the parking starting position.

Step 402, establishing information relation between the vehicle end and the field end.

And step 403, acquiring the latest vehicle body posture information and producing the latest positioning layer.

Specifically, when the field end calculation processing decision module detects that the vehicle speed is 0, the latest vehicle body posture information is obtained and the latest positioning layer is produced.

And step 404, determining the accurate position of the vehicle on the positioning layer.

Step 405, selecting an ideal target parking space.

And step 406, calculating and drawing an automatic driving path.

And step 407, judging whether the current vehicle position and the vehicle posture are qualified.

Specifically, whether the driving path and the non-drivable area in the positioning layer have an overlapped intersection area or not can be judged, and if the driving path and the non-drivable area in the positioning layer have the overlapped intersection area, the current vehicle position and the vehicle posture are unqualified, and the current vehicle position and the vehicle posture need to be adjusted. And if the driving path does not have an overlapped intersection area with the non-driving area in the positioning map layer, the current vehicle position and the vehicle posture are qualified.

The specific implementation principle and effect of the method in this embodiment can be found in the foregoing embodiments, and are not described herein again.

Optionally, the method provided in this embodiment may be implemented based on each module shown in fig. 2, or may have other module division manners, which is not limited in this embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a parking detection apparatus according to an embodiment of the present invention. As shown in fig. 5, the parking detection apparatus provided in the present embodiment may include:

the acquiring module 501 is configured to acquire state information of a parking starting position of a vehicle in a parking lot, where the state information includes position information and/or posture information;

a planning module 502, configured to plan a path from the parking start position to a target parking position for the vehicle according to the state information of the vehicle;

the judging module 503 is configured to judge whether the state information of the vehicle meets a parking requirement according to the path;

the prompting module 504 is configured to generate a prompting message when the parking requirement is not met, so as to prompt a user to adjust the state information of the vehicle until the parking requirement is met.

Optionally, the obtaining module 501 is specifically configured to:

Optionally, the attitude information includes a vehicle body heading angle and/or a wheel steering angle.

Optionally, when the obtaining module 501 obtains the environmental characteristic information corresponding to the vehicle and the positioning layer of the parking lot, it is specifically configured to:

correspondingly, when determining the position information of the vehicle according to the environmental feature information and the positioning layer, the obtaining module 501 is specifically configured to:

Optionally, the planning module 502 is specifically configured to:

correspondingly, when determining whether the vehicle meets the parking requirement according to the path, the obtaining module 501 is specifically configured to:

Optionally, when the planning module 502 determines whether the vehicle meets the parking requirement according to at least one candidate path corresponding to each target parking space, it is specifically configured to:

The apparatus provided in this embodiment may implement the technical solutions of the method embodiments shown in fig. 1 to fig. 4, and the implementation principles and technical effects are similar, which are not described herein again.

Fig. 6 is a schematic structural diagram of a parking detection apparatus according to an embodiment of the present invention. As shown in fig. 6, the apparatus provided in this embodiment may include: at least one processor 61 and memory 62;

the memory 62 stores computer-executable instructions;

the at least one processor 61 executes computer-executable instructions stored by the memory 62 to cause the at least one processor 61 to perform the method of any of the embodiments described above.

Wherein the memory 62 and the processor 61 may be connected by a bus 63.

For specific implementation principles and effects of the device provided in this embodiment, reference may be made to relevant descriptions and effects corresponding to the embodiments shown in fig. 1 to fig. 4, which are not described herein in detail.

The embodiment of the invention also provides a parking detection system, which comprises the parking detection equipment, the around-looking camera installed at the parking starting position and a plurality of visual sensors deployed at different positions of the parking lot.

Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the parking detection method provided in any embodiment of the present invention.

Embodiments of the present invention further provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for detecting parking according to any embodiment of the present invention is implemented.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods according to the embodiments of the present invention.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present invention are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A parking detection method, comprising:

2. The method of claim 1, wherein obtaining status information of a vehicle at a parking start location of a parking lot comprises:

3. The method of claim 2, wherein the attitude information includes a body heading angle and/or a wheel steering angle;

4. The method according to claim 2 or 3, wherein planning a path for the vehicle to move from the parking start position to a target parking position according to the state information of the vehicle comprises:

5. The method of claim 4, wherein determining whether the vehicle meets a parking requirement according to at least one candidate path corresponding to each target parking space comprises:

6. A parking detection apparatus, characterized in that the apparatus comprises:

7. A parking detection apparatus, characterized by comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method for detecting parking of any of claims 1-5.

8. A parking detection system, comprising: the parking detection apparatus of claim 7, a look-around camera mounted at a parking start site, and a plurality of visual sensors disposed at different locations of the parking lot.

9. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the method of detecting parking according to any one of claims 1 to 5.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the method of detecting parking according to any of claims 1 to 5 when executed by a processor.